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WO2021128184A1 - Procédé de commande et appareil de commande pour support mobile, et support de stockage lisible par ordinateur - Google Patents

Procédé de commande et appareil de commande pour support mobile, et support de stockage lisible par ordinateur Download PDF

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Publication number
WO2021128184A1
WO2021128184A1 PCT/CN2019/128778 CN2019128778W WO2021128184A1 WO 2021128184 A1 WO2021128184 A1 WO 2021128184A1 CN 2019128778 W CN2019128778 W CN 2019128778W WO 2021128184 A1 WO2021128184 A1 WO 2021128184A1
Authority
WO
WIPO (PCT)
Prior art keywords
control
predicted
instruction sequence
movable carrier
predicted trajectory
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2019/128778
Other languages
English (en)
Chinese (zh)
Inventor
颜江
张立天
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
SZ DJI Technology Co Ltd
Original Assignee
SZ DJI Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by SZ DJI Technology Co Ltd filed Critical SZ DJI Technology Co Ltd
Priority to CN201980051174.1A priority Critical patent/CN112543899B/zh
Priority to PCT/CN2019/128778 priority patent/WO2021128184A1/fr
Publication of WO2021128184A1 publication Critical patent/WO2021128184A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B11/00—Automatic controllers
    • G05B11/01—Automatic controllers electric
    • G05B11/36—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential
    • G05B11/42—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential for obtaining a characteristic which is both proportional and time-dependent, e.g. P. I., P. I. D.
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
    • G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
    • G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
    • G05B13/048—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators using a predictor
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
    • G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft

Definitions

  • the linear acceleration control amount of the controller of the movable carrier The linear acceleration control amount of the controller of the movable carrier, the centripetal acceleration of the movable carrier, and the air resistance of the movable carrier.
  • the operation of generating a control instruction sequence according to the predicted trajectory includes:
  • the trajectory tracking controller includes at least one of the following: a model predictive controller, a proportional integral derivative controller, a pure tracking controller, and a linear quadratic regulator.
  • the first instruction in the linear acceleration control instruction sequence and/or the linear velocity control instruction sequence is used to control the movable carrier.
  • the processor of this embodiment may include, for example, a general-purpose microprocessor, an instruction set processor, and/or a related chipset and/or a special-purpose microprocessor (for example, an application specific integrated circuit (ASIC)), and so on.
  • the processor may also include on-board memory for caching purposes.
  • the computer-readable storage medium may be a non-volatile computer-readable storage medium, for example, may include but not limited to: portable computer disk, hard disk, random access memory (RAM), read-only memory (ROM) , Erasable programmable read-only memory (EPROM or flash memory), portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination of the above.
  • a computer-readable storage medium may be any tangible medium that contains or stores a program, and the program may be used by or in combination with an instruction execution system, apparatus, or device.
  • Yet another embodiment of the present disclosure provides a movable carrier, as shown in FIG. 8, comprising: the control device of the above-mentioned embodiment; and a controller for receiving the control instruction sequence generated by the control device, and using the The control instruction sequence controls the movable carrier.
  • the movable carrier is a drone
  • the controller is a flight controller of the drone.

Landscapes

  • Engineering & Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Medical Informatics (AREA)
  • Software Systems (AREA)
  • Evolutionary Computation (AREA)
  • Artificial Intelligence (AREA)
  • Health & Medical Sciences (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

L'invention concerne un procédé de commande et un appareil de commande pour un support mobile, et un support de stockage lisible par ordinateur. Le procédé de commande pour un support mobile consiste à : acquérir une quantité de manche à balai pour commander un support mobile (S201) ; déterminer une trajectoire prédite du support mobile d'après la quantité de manche à balai (S202) ; et générer une séquence d'instructions de commande d'après la trajectoire prédite pour commander le support mobile afin qu'il se déplace d'après la trajectoire prédite (S203).
PCT/CN2019/128778 2019-12-26 2019-12-26 Procédé de commande et appareil de commande pour support mobile, et support de stockage lisible par ordinateur Ceased WO2021128184A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
CN201980051174.1A CN112543899B (zh) 2019-12-26 2019-12-26 可移动载体的控制方法、控制装置、计算机可读存储介质
PCT/CN2019/128778 WO2021128184A1 (fr) 2019-12-26 2019-12-26 Procédé de commande et appareil de commande pour support mobile, et support de stockage lisible par ordinateur

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2019/128778 WO2021128184A1 (fr) 2019-12-26 2019-12-26 Procédé de commande et appareil de commande pour support mobile, et support de stockage lisible par ordinateur

Publications (1)

Publication Number Publication Date
WO2021128184A1 true WO2021128184A1 (fr) 2021-07-01

Family

ID=75013406

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PCT/CN2019/128778 Ceased WO2021128184A1 (fr) 2019-12-26 2019-12-26 Procédé de commande et appareil de commande pour support mobile, et support de stockage lisible par ordinateur

Country Status (2)

Country Link
CN (1) CN112543899B (fr)
WO (1) WO2021128184A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11999380B1 (en) * 2021-12-17 2024-06-04 Zoox, Inc. Autonomous vehicle trajectory generation and optimization

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114063496B (zh) * 2021-11-02 2024-07-02 广州昂宝电子有限公司 无人机控制方法和系统以及用于遥控无人机的遥控器
CN114648574A (zh) * 2022-03-25 2022-06-21 云控智行科技有限公司 车辆运动轨迹预测方法、装置及设备

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CN104180796A (zh) * 2013-05-22 2014-12-03 上海九鹰电子科技有限公司 遥控信号的发送及接收的装置和方法、遥控设备
US20150051755A1 (en) * 2013-08-15 2015-02-19 Traxxas Lp Controllable flight during automated tricks
CN105992980A (zh) * 2015-05-18 2016-10-05 深圳市大疆创新科技有限公司 基于无头模式的无人机控制方法及设备
CN106200673A (zh) * 2016-07-26 2016-12-07 中国航空工业集团公司西安飞行自动控制研究所 一体化自动飞行机动控制方法
CN106951871A (zh) * 2017-03-24 2017-07-14 北京地平线机器人技术研发有限公司 操作体的运动轨迹识别方法、装置和电子设备
CN108475074A (zh) * 2017-04-10 2018-08-31 深圳市大疆创新科技有限公司 云台随动控制方法及控制设备
CN109074088A (zh) * 2017-04-11 2018-12-21 深圳市大疆创新科技有限公司 无人飞行器的状态检测方法、设备及无人飞行器
CN109739264A (zh) * 2019-02-27 2019-05-10 重庆邮电大学 一种基于飞行指令的小型无人机轨迹归航系统及方法
CN110325939A (zh) * 2017-03-09 2019-10-11 深圳市大疆创新科技有限公司 用于操作无人驾驶飞行器的系统和方法

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CN105867407A (zh) * 2016-06-12 2016-08-17 零度智控（北京）智能科技有限公司 无人机、无人机飞行控制装置及方法
CN110147098A (zh) * 2019-04-30 2019-08-20 杭州飞步科技有限公司 自动驾驶车辆的控制方法、装置、设备及可读存储介质

Patent Citations (9)

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Publication number Priority date Publication date Assignee Title
CN104180796A (zh) * 2013-05-22 2014-12-03 上海九鹰电子科技有限公司 遥控信号的发送及接收的装置和方法、遥控设备
US20150051755A1 (en) * 2013-08-15 2015-02-19 Traxxas Lp Controllable flight during automated tricks
CN105992980A (zh) * 2015-05-18 2016-10-05 深圳市大疆创新科技有限公司 基于无头模式的无人机控制方法及设备
CN106200673A (zh) * 2016-07-26 2016-12-07 中国航空工业集团公司西安飞行自动控制研究所 一体化自动飞行机动控制方法
CN110325939A (zh) * 2017-03-09 2019-10-11 深圳市大疆创新科技有限公司 用于操作无人驾驶飞行器的系统和方法
CN106951871A (zh) * 2017-03-24 2017-07-14 北京地平线机器人技术研发有限公司 操作体的运动轨迹识别方法、装置和电子设备
CN108475074A (zh) * 2017-04-10 2018-08-31 深圳市大疆创新科技有限公司 云台随动控制方法及控制设备
CN109074088A (zh) * 2017-04-11 2018-12-21 深圳市大疆创新科技有限公司 无人飞行器的状态检测方法、设备及无人飞行器
CN109739264A (zh) * 2019-02-27 2019-05-10 重庆邮电大学 一种基于飞行指令的小型无人机轨迹归航系统及方法

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11999380B1 (en) * 2021-12-17 2024-06-04 Zoox, Inc. Autonomous vehicle trajectory generation and optimization
US12491910B1 (en) * 2021-12-17 2025-12-09 Zoox, Inc. Autonomous vehicle trajectory generation and optimization

Also Published As

Publication number Publication date
CN112543899A (zh) 2021-03-23
CN112543899B (zh) 2025-02-21

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